/*
 * FreeRTOS V202212.00
 * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy of
 * this software and associated documentation files (the "Software"), to deal in
 * the Software without restriction, including without limitation the rights to
 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
 * the Software, and to permit persons to whom the Software is furnished to do so,
 * subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 *
 * https://www.FreeRTOS.org
 * https://github.com/FreeRTOS
 *
 */

/******************************************************************************
 * NOTE 1:  This project provides two demo applications.  A simple blinky
 * style project, and a more comprehensive test and demo application.  The
 * mainCREATE_SIMPLY_BLINKY_DEMO_ONLY setting in main.c is used to select
 * between the two.  See the notes on using mainCREATE_SIMPLY_BLINKY_DEMO_ONLY
 * in main.c.  This file implements the comprehensive version.
 *
 * NOTE 2:  This file only contains the source code that is specific to the
 * full demo.  Generic functions, such FreeRTOS hook functions, and functions
 * required to configure the hardware, are defined in main.c.
 *
 ******************************************************************************
 *
 * main_full() creates all the demo application tasks and software timers, then
 * starts the scheduler.  The web documentation provides more details of the
 * standard demo application tasks, which provide no particular functionality,
 * but do provide a good example of how to use the FreeRTOS API.
 *
 * In addition to the standard demo tasks, the following tasks and tests are
 * defined and/or created within this file:
 *
 * "Reg test" tasks - These fill both the core and floating point registers with
 * known values, then check that each register maintains its expected value for
 * the lifetime of the task.  Each task uses a different set of values.  The reg
 * test tasks execute with a very low priority, so get preempted very
 * frequently.  A register containing an unexpected value is indicative of an
 * error in the context switching mechanism.
 *
 * "Check" task - The check task period is initially set to three seconds.  The
 * task checks that all the standard demo tasks, and the register check tasks,
 * are not only still executing, but are executing without reporting any errors.
 * If the check task discovers that a task has either stalled, or reported an
 * error, then it changes its own execution period from the initial three
 * seconds, to just 200ms.  The check task also toggles an LED each time it is
 * called.  This provides a visual indication of the system status:  If the LED
 * toggles every three seconds, then no issues have been discovered.  If the LED
 * toggles every 200ms, then an issue has been discovered with at least one
 * task.
 */

/* Standard includes. */
#include <stdio.h>

/* Kernel includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "timers.h"
#include "semphr.h"

/* Standard demo application includes. */
#include "flop.h"
#include "semtest.h"
#include "dynamic.h"
#include "BlockQ.h"
#include "blocktim.h"
#include "countsem.h"
#include "GenQTest.h"
#include "recmutex.h"
#include "death.h"
#include "partest.h"
#include "comtest2.h"
#include "serial.h"
#include "TimerDemo.h"
#include "QueueOverwrite.h"
#include "EventGroupsDemo.h"
#include "IntSemTest.h"

/* Priorities for the demo application tasks. */
#define mainSEM_TEST_PRIORITY                     ( tskIDLE_PRIORITY + 1UL )
#define mainBLOCK_Q_PRIORITY                      ( tskIDLE_PRIORITY + 2UL )
#define mainCREATOR_TASK_PRIORITY                 ( tskIDLE_PRIORITY + 3UL )
#define mainFLOP_TASK_PRIORITY                    ( tskIDLE_PRIORITY )
#define mainUART_COMMAND_CONSOLE_STACK_SIZE       ( configMINIMAL_STACK_SIZE * 3UL )
#define mainCOM_TEST_TASK_PRIORITY                ( tskIDLE_PRIORITY + 2 )
#define mainCHECK_TASK_PRIORITY                   ( configMAX_PRIORITIES - 1 )
#define mainQUEUE_OVERWRITE_PRIORITY              ( tskIDLE_PRIORITY )

/* The priority used by the UART command console task.  This is very basic and
* uses the Altera polling UART driver - so *must* run at the idle priority. */
#define mainUART_COMMAND_CONSOLE_TASK_PRIORITY    ( tskIDLE_PRIORITY )

/* The LED used by the check task. */
#define mainCHECK_LED                             ( 0 )

/* A block time of zero simply means "don't block". */
#define mainDONT_BLOCK                            ( 0UL )

/* The period of the check task, in ms, provided no errors have been reported by
 * any of the standard demo tasks.  ms are converted to the equivalent in ticks
 * using the pdMS_TO_TICKS() macro constant. */
#define mainNO_ERROR_CHECK_TASK_PERIOD            pdMS_TO_TICKS( 3000UL )

/* The period of the check task, in ms, if an error has been reported in one of
 * the standard demo tasks.  ms are converted to the equivalent in ticks using the
 * pdMS_TO_TICKS() macro. */
#define mainERROR_CHECK_TASK_PERIOD               pdMS_TO_TICKS( 200UL )

/* Parameters that are passed into the register check tasks solely for the
 * purpose of ensuring parameters are passed into tasks correctly. */
#define mainREG_TEST_TASK_1_PARAMETER             ( ( void * ) 0x12345678 )
#define mainREG_TEST_TASK_2_PARAMETER             ( ( void * ) 0x87654321 )

/* The base period used by the timer test tasks. */
#define mainTIMER_TEST_PERIOD                     ( 50 )

/*-----------------------------------------------------------*/


/*
 * The check task, as described at the top of this file.
 */
static void prvCheckTask( void * pvParameters );

/*
 * Register check tasks, and the tasks used to write over and check the contents
 * of the FPU registers, as described at the top of this file.  The nature of
 * these files necessitates that they are written in an assembly file, but the
 * entry points are kept in the C file for the convenience of checking the task
 * parameter.
 */
static void prvRegTestTaskEntry1( void * pvParameters );
extern void vRegTest1Implementation( void );
static void prvRegTestTaskEntry2( void * pvParameters );
extern void vRegTest2Implementation( void );

/*
 * Register commands that can be used with FreeRTOS+CLI.  The commands are
 * defined in CLI-Commands.c and File-Related-CLI-Command.c respectively.
 */
extern void vRegisterSampleCLICommands( void );

/*
 * The task that manages the FreeRTOS+CLI input and output.
 */
extern void vUARTCommandConsoleStart( uint16_t usStackSize,
                                      UBaseType_t uxPriority );

/*
 * A high priority task that does nothing other than execute at a pseudo random
 * time to ensure the other test tasks don't just execute in a repeating
 * pattern.
 */
static void prvPseudoRandomiser( void * pvParameters );

/*-----------------------------------------------------------*/

/* The following two variables are used to communicate the status of the
 * register check tasks to the check task.  If the variables keep incrementing,
 * then the register check tasks have not discovered any errors.  If a variable
 * stops incrementing, then an error has been found. */
volatile unsigned long ulRegTest1LoopCounter = 0UL, ulRegTest2LoopCounter = 0UL;

/*-----------------------------------------------------------*/

void main_full( void )
{
    /* Start all the other standard demo/test tasks.  They have no particular
     * functionality, but do demonstrate how to use the FreeRTOS API and test the
     * kernel port. */
    vStartDynamicPriorityTasks();
    vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
    vCreateBlockTimeTasks();
    vStartCountingSemaphoreTasks();
    vStartGenericQueueTasks( tskIDLE_PRIORITY );
    vStartRecursiveMutexTasks();
    vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
    vStartMathTasks( mainFLOP_TASK_PRIORITY );
    vStartTimerDemoTask( mainTIMER_TEST_PERIOD );
    vStartQueueOverwriteTask( mainQUEUE_OVERWRITE_PRIORITY );
    vStartEventGroupTasks();
    vStartInterruptSemaphoreTasks();

    /* Start the tasks that implements the command console on the UART, as
     * described above. */
    vUARTCommandConsoleStart( mainUART_COMMAND_CONSOLE_STACK_SIZE, mainUART_COMMAND_CONSOLE_TASK_PRIORITY );

    /* Register the standard CLI commands. */
    vRegisterSampleCLICommands();

    /* Create the register check tasks, as described at the top of this	file */
    xTaskCreate( prvRegTestTaskEntry1, "Reg1", configMINIMAL_STACK_SIZE, mainREG_TEST_TASK_1_PARAMETER, tskIDLE_PRIORITY, NULL );
    xTaskCreate( prvRegTestTaskEntry2, "Reg2", configMINIMAL_STACK_SIZE, mainREG_TEST_TASK_2_PARAMETER, tskIDLE_PRIORITY, NULL );

    /* Create the task that just adds a little random behaviour. */
    xTaskCreate( prvPseudoRandomiser, "Rnd", configMINIMAL_STACK_SIZE, NULL, configMAX_PRIORITIES - 1, NULL );

    /* Create the task that performs the 'check' functionality,	as described at
     * the top of this file. */
    xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );

    /* The set of tasks created by the following function call have to be
     * created last as they keep account of the number of tasks they expect to see
     * running. */
    vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );

    /* Start the scheduler. */
    vTaskStartScheduler();

    /* If all is well, the scheduler will now be running, and the following
     * line will never be reached.  If the following line does execute, then
     * there was either insufficient FreeRTOS heap memory available for the idle
     * and/or timer tasks to be created, or vTaskStartScheduler() was called from
     * User mode.  See the memory management section on the FreeRTOS web site for
     * more details on the FreeRTOS heap http://www.freertos.org/a00111.html.  The
     * mode from which main() is called is set in the C start up code and must be
     * a privileged mode (not user mode). */
    for( ; ; )
    {
    }
}
/*-----------------------------------------------------------*/

static void prvCheckTask( void * pvParameters )
{
    TickType_t xDelayPeriod = mainNO_ERROR_CHECK_TASK_PERIOD;
    TickType_t xLastExecutionTime;
    static unsigned long ulLastRegTest1Value = 0, ulLastRegTest2Value = 0;
    unsigned long ulErrorFound = pdFALSE;

    /* Just to stop compiler warnings. */
    ( void ) pvParameters;

    /* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
     * works correctly. */
    xLastExecutionTime = xTaskGetTickCount();

    /* Cycle for ever, delaying then checking all the other tasks are still
     * operating without error.  The onboard LED is toggled on each iteration.
     * If an error is detected then the delay period is decreased from
     * mainNO_ERROR_CHECK_TASK_PERIOD to mainERROR_CHECK_TASK_PERIOD.  This has the
     * effect of increasing the rate at which the onboard LED toggles, and in so
     * doing gives visual feedback of the system status. */
    for( ; ; )
    {
        /* Delay until it is time to execute again. */
        vTaskDelayUntil( &xLastExecutionTime, xDelayPeriod );

        /* Check all the demo tasks (other than the flash tasks) to ensure
         * that they are all still running, and that none have detected an error. */
        if( xAreMathsTaskStillRunning() != pdTRUE )
        {
            ulErrorFound = 1 << 1;
        }

        if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
        {
            ulErrorFound = 1 << 2;
        }

        if( xAreBlockingQueuesStillRunning() != pdTRUE )
        {
            ulErrorFound = 1 << 3;
        }

        if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
        {
            ulErrorFound = 1 << 4;
        }

        if( xAreGenericQueueTasksStillRunning() != pdTRUE )
        {
            ulErrorFound = 1 << 5;
        }

        if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
        {
            ulErrorFound = 1 << 6;
        }

        if( xIsCreateTaskStillRunning() != pdTRUE )
        {
            ulErrorFound = 1 << 7;
        }

        if( xAreSemaphoreTasksStillRunning() != pdTRUE )
        {
            ulErrorFound = 1 << 8;
        }

        if( xAreTimerDemoTasksStillRunning( ( TickType_t ) mainNO_ERROR_CHECK_TASK_PERIOD ) != pdPASS )
        {
            ulErrorFound = 1 << 9;
        }

        if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
        {
            ulErrorFound = 1 << 10;
        }

        if( xIsQueueOverwriteTaskStillRunning() != pdPASS )
        {
            ulErrorFound = 1 << 11;
        }

        if( xAreEventGroupTasksStillRunning() != pdPASS )
        {
            ulErrorFound = 1 << 12;
        }

        if( xAreInterruptSemaphoreTasksStillRunning() != pdPASS )
        {
            ulErrorFound = 1 << 13;
        }

        /* Check that the register test 1 task is still running. */
        if( ulLastRegTest1Value == ulRegTest1LoopCounter )
        {
            ulErrorFound = 1 << 14;
        }

        ulLastRegTest1Value = ulRegTest1LoopCounter;

        /* Check that the register test 2 task is still running. */
        if( ulLastRegTest2Value == ulRegTest2LoopCounter )
        {
            ulErrorFound = 1 << 15;
        }

        ulLastRegTest2Value = ulRegTest2LoopCounter;

        /* Toggle the check LED to give an indication of the system status.  If
         * the LED toggles every mainNO_ERROR_CHECK_TASK_PERIOD milliseconds then
         * everything is ok.  A faster toggle indicates an error. */
        vParTestToggleLED( mainCHECK_LED );

        if( ulErrorFound != pdFALSE )
        {
            /* An error has been detected in one of the tasks - flash the LED
             * at a higher frequency to give visible feedback that something has
             * gone wrong (it might just be that the loop back connector required
             * by the comtest tasks has not been fitted). */
            xDelayPeriod = mainERROR_CHECK_TASK_PERIOD;
        }
    }
}
/*-----------------------------------------------------------*/

static void prvRegTestTaskEntry1( void * pvParameters )
{
    /* Although the regtest task is written in assembler, its entry point is
     * written in C for convenience of checking the task parameter is being passed
     * in correctly. */
    if( pvParameters == mainREG_TEST_TASK_1_PARAMETER )
    {
        /* The reg test task also tests the floating point registers.  Tasks
         * that use the floating point unit must call vPortTaskUsesFPU() before
         * any floating point instructions are executed. */
        vPortTaskUsesFPU();

        /* Start the part of the test that is written in assembler. */
        vRegTest1Implementation();
    }

    /* The following line will only execute if the task parameter is found to
     * be incorrect.  The check task will detect that the regtest loop counter is
     * not being incremented and flag an error. */
    vTaskDelete( NULL );
}
/*-----------------------------------------------------------*/

static void prvRegTestTaskEntry2( void * pvParameters )
{
    /* Although the regtest task is written in assembler, its entry point is
     * written in C for convenience of checking the task parameter is being passed
     * in correctly. */
    if( pvParameters == mainREG_TEST_TASK_2_PARAMETER )
    {
        /* The reg test task also tests the floating point registers.  Tasks
         * that use the floating point unit must call vPortTaskUsesFPU() before
         * any floating point instructions are executed. */
        vPortTaskUsesFPU();

        /* Start the part of the test that is written in assembler. */
        vRegTest2Implementation();
    }

    /* The following line will only execute if the task parameter is found to
     * be incorrect.  The check task will detect that the regtest loop counter is
     * not being incremented and flag an error. */
    vTaskDelete( NULL );
}
/*-----------------------------------------------------------*/

static void prvPseudoRandomiser( void * pvParameters )
{
    const uint32_t ulMultiplier = 0x015a4e35UL, ulIncrement = 1UL, ulMinDelay = ( 35 / portTICK_PERIOD_MS );
    volatile uint32_t ulNextRand = ( uint32_t ) &pvParameters, ulValue;


    /* This task does nothing other than ensure there is a little bit of
     * disruption in the scheduling pattern of the other tasks.  Normally this is
     * done by generating interrupts at pseudo random times. */
    for( ; ; )
    {
        ulNextRand = ( ulMultiplier * ulNextRand ) + ulIncrement;
        ulValue = ( ulNextRand >> 16UL ) & 0xffUL;

        if( ulValue < ulMinDelay )
        {
            ulValue = ulMinDelay;
        }

        vTaskDelay( ulValue );

        while( ulValue > 0 )
        {
            __asm volatile ( "NOP" );
            __asm volatile ( "NOP" );
            __asm volatile ( "NOP" );
            __asm volatile ( "NOP" );

            ulValue--;
        }
    }
}
